NANOOS May22 * SG236 * Dive index * Mission links * Dive 91 * Raw log
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• Previous call tries 1 • 46.88 of 575.00 AH used of 24V (91.85% remains)
• Surface angle -61.1 deg, depth 1.30 m • Intended pitch -20.4 deg, speed -7.857 cm/s
VBD pumped to 400.18 (SM_CC=400)
• GPS1 time: 41 s
• GPS2 time: 3 s • Transponder ping count: 80
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
1 end surface: CONTROL_FINISHED_OK
1 begin dive
4.33 - - - 59.81 VBD -1.27 - - 173.81 - - - 2249.50 - -82.73 54.97 0.005 2439.84 - - - - - - - - - - 14.35
60.01 3.27 -2.38 10 112.83 -1.27 15.35 0.248 2012.81 119.8 4.08 0.157 802.31 -354.7 -82.73 28.08 0.006 3316.97 31.2 -2.824 - - - - - - 15.67 15.64 15.68
280.72 46.90 -22.23 54 286.45 roll -1.27 - - 2013.06 - 3.56 0.060 2253.94 407.8 -82.73 - - 3318.44 - - - - - - - - - 15.82 -
470.77 83.74 -19.69 92 476.52 roll -1.27 - - 2012.88 - 3.70 0.112 3637.81 374.0 -82.73 - - 3319.78 - - - - - - - - - 15.87 -
520.78 93.70 -20.11 102 526.50 roll -1.27 - - 2012.94 - 3.56 0.061 2207.19 -401.9 -82.73 - - 3318.28 - - - - - - - - - 15.89 -
710.81 118.45 -13.85 140 716.58 roll -1.27 - - 2012.62 - 3.88 0.153 802.12 -362.1 -82.73 - - 3318.84 - - - - - - - - - 15.90 -
775.82 128.37 -14.91 153 781.55 roll -1.27 - - 2013.12 - 3.52 0.057 2257.12 413.4 -82.73 - - 3318.06 - - - - - - - - - 15.94 -
1085.91 165.83 -12.14 215 1089.91 no move -1.27 - - 2013.00 - - - 2256.94 - -82.73 - - 3318.97 - - - - - - - - - - -
1390.92 203.59 -11.31 276 1396.74 roll -1.27 - - 2012.50 - 4.01 0.151 802.75 -362.6 -82.73 - - 3318.34 - - - - - - - - - 15.98 -
1470.92 214.24 -13.83 292 1476.63 roll -1.27 - - 2011.94 - 3.48 0.059 2257.00 417.9 -82.73 - - 3320.56 - - - - - - - - - 16.01 -
1781.02 250.16 -11.58 354 1785.09 no move -1.27 - - 2012.62 - - - 2257.12 - -82.73 - - 3319.28 - - - - - - - - - - -
2086.03 287.98 -13.43 415 2090.04 no move -1.27 - - 2012.94 - - - 2256.75 - -82.73 - - 3319.34 - - - - - - - - - - -
2397.62 322.98 -11.02 456 2412.15 roll -1.27 - - 2012.19 - 3.99 0.153 801.88 -364.6 -82.73 - - 3320.31 - - - - - - - - - 16.04 -
2442.93 330.00 -13.15 463 2455.71 roll -1.27 - - 2012.75 - 3.41 0.061 2256.31 426.5 -82.73 - - 3320.31 - - - - - - - - - 16.07 -
2765.16 364.71 -10.83 495 2775.17 no move -1.27 - - 2013.19 - - - 2256.06 - -82.73 - - 3318.78 - - - - - - - - - - -
3085.21 399.48 -10.57 527 3095.20 no move -1.27 - - 2012.50 - - - 2255.50 - -82.73 - - 3318.38 - - - - - - - - - - -
3405.26 432.90 -10.41 559 3419.80 roll -1.27 - - 2012.81 - 4.00 0.156 801.81 -363.4 -82.73 - - 3318.88 - - - - - - - - - 16.07 -
3479.04 442.50 -13.24 570 3491.79 roll -1.27 - - 2013.44 - 3.47 0.063 2255.62 419.0 -82.73 - - 3318.09 - - - - - - - - - 16.10 -
3801.23 475.33 -10.31 602 3811.22 no move -1.27 - - 2012.31 - - - 2256.06 - -82.73 - - 3318.66 - - - - - - - - - - -
4126.28 508.17 -9.92 632 4127.62 no move -1.27 - - 2012.62 - - - 2256.31 - -82.73 - - 3317.59 - - - - - - - - - - -
4441.33 539.32 -9.98 653 4442.67 no move -1.27 - - 2012.69 - - - 2255.50 - -82.73 - - 3317.16 - - - - - - - - - - -
4756.36 570.36 -9.91 674 4757.70 no move -1.27 - - 2012.69 - - - 2256.31 - -82.73 - - 3317.75 - - - - - - - - - - -
5071.40 600.91 -9.51 695 5072.74 no move -1.27 - - 2012.56 - - - 2255.75 - -82.73 - - 3316.41 - - - - - - - - - - -
5386.44 631.04 -9.44 716 5387.77 no move -1.27 - - 2012.44 - - - 2256.19 - -82.73 - - 3316.16 - - - - - - - - - - -
5701.47 660.74 -9.46 737 5702.80 no move -1.27 - - 2013.12 - - - 2255.38 - -82.73 - - 3315.22 - - - - - - - - - - -
6016.50 689.61 -9.46 758 6023.97 roll -1.27 - - 2012.75 - 4.00 0.161 801.75 -363.4 -82.73 - - 3315.31 - - - - - - - - - 16.11 -
6057.47 694.48 -10.18 765 6063.17 roll -1.27 - - 2013.56 - 3.46 0.066 2255.38 420.1 -82.73 - - 3315.12 - - - - - - - - - 16.14 -
6374.57 722.24 -9.05 787 6375.91 no move -1.27 - - 2012.56 - - - 2256.00 - -82.73 - - 3314.56 - - - - - - - - - - -
6689.74 749.27 -8.85 808 6691.07 no move -1.27 - - 2013.06 - - - 2256.31 - -82.73 - - 3313.81 - - - - - - - - - - -
7004.61 777.42 -8.87 829 7005.95 no move -1.27 - - 2012.69 - - - 2255.56 - -82.73 - - 3312.97 - - - - - - - - - - -
7319.78 804.51 -8.80 850 7327.17 roll -1.27 - - 2012.81 - 3.59 0.119 3637.25 384.9 -82.73 - - 3312.28 - - - - - - - - - 16.13 -
7379.98 811.18 -12.50 860 7385.66 roll -1.27 - - 2012.31 - 3.47 0.069 2206.75 -412.2 -82.73 - - 3314.16 - - - - - - - - - 16.14 -
7697.11 838.58 -8.47 882 7704.54 roll -1.27 - - 2011.00 - 3.71 0.114 3636.56 385.4 -82.73 - - 3314.16 - - - - - - - - - 16.14 -
7814.98 851.18 -10.15 901 7820.70 roll -1.27 - - 2012.88 - 3.47 0.069 2209.25 -411.3 -82.73 - - 3311.94 - - - - - - - - - 16.14 -
8132.10 877.97 -8.59 923 8139.54 roll -1.27 - - 2012.44 - 3.70 0.115 3638.69 386.3 -82.73 - - 3312.88 - - - - - - - - - 16.14 -
8173.07 882.46 -9.19 930 8178.77 roll -1.27 - - 2012.38 - 3.49 0.068 2208.50 -409.8 -82.73 - - 3311.62 - - - - - - - - - 16.14 -
8490.21 909.13 -8.34 952 8491.55 no move -1.27 - - 2012.56 - - - 2208.94 - -82.73 - - 3311.66 - - - - - - - - - - -
8805.22 937.45 -9.15 973 8812.66 roll -1.27 - - 2012.38 - 3.72 0.115 3637.12 383.9 -82.73 - - 3311.06 - - - - - - - - - 16.14 -
8903.88 947.86 -10.53 989 8909.59 roll -1.27 - - 2011.62 - 3.50 0.070 2209.62 -407.9 -82.73 - - 3312.31 - - - - - - - - - 16.15 -
9221.03 976.39 -8.45 1011 9222.37 no move -1.27 - - 2012.06 - - - 2209.44 - -82.73 - - 3309.41 - - - - - - - - - - -
9386 end dive: TARGET_DEPTH_EXCEEDED
9386 begin apogee
9387.81 990.62 -8.70 1022 9462.89 -0.25 1.77 0.147 2259.56 139.8 0.09 0.255 2479.31 2998.6 - 67.53 2.241 2978.38 -4.9 0.359 - - - - - - 16.10 15.57 12.82
9465 end apogee: CONTROL_FINISHED_OK
9465 begin climb
9467.87 993.31 - 1027 9547.22 1.27 2.58 0.090 2629.75 143.5 0.10 0.149 2537.69 583.8 82.73 73.29 2.196 2643.25 -4.6 0.343 - - - - - - 15.63 15.66 12.77
9860.43 968.59 7.42 1060 9867.91 roll 1.27 - - 2629.38 - 4.08 0.128 1046.75 -365.4 82.73 - - 2641.56 - - - - - - - - - 15.75 -
9944.83 961.72 8.41 1074 9957.65 roll 1.27 - - 2630.31 - 3.68 0.067 2529.38 402.9 82.73 - - 2639.22 - - - - - - - - - 15.79 -
10271.96 939.35 6.81 1096 10273.30 no move 1.30 - - 2630.06 - - - 2529.12 - 82.73 - - 2637.72 - - - - - - - - - - -
10587.01 917.53 2.03 1117 10668.03 1.57 0.47 0.067 2708.44 166.8 - - 2529.38 - 174.21 76.90 2.135 2270.50 -4.8 0.340 - - - - - - 15.95 - 12.91
10981.48 869.55 13.18 1145 10988.96 roll 1.57 - - 2709.00 - 4.06 0.129 1046.62 -365.2 174.21 - - 2269.59 - - - - - - - - - 15.77 -
11080.10 854.09 15.02 1161 11085.87 roll 1.57 - - 2709.19 - 3.70 0.068 2529.44 400.8 174.21 - - 2267.78 - - - - - - - - - 15.82 -
11397.21 816.67 10.90 1183 11398.55 no move 1.57 - - 2709.44 - - - 2530.38 - 174.21 - - 2263.97 - - - - - - - - - - -
11712.25 779.23 11.80 1204 11713.59 no move 1.57 - - 2709.12 - - - 2529.81 - 174.21 - - 2263.12 - - - - - - - - - - -
12027.30 742.69 11.41 1225 12028.64 no move 1.57 - - 2709.06 - - - 2529.81 - 174.21 - - 2264.75 - - - - - - - - - - -
12342.33 705.89 11.91 1246 12349.79 roll 1.57 - - 2708.69 - 3.97 0.129 1044.75 -374.1 174.21 - - 2266.28 - - - - - - - - - 16.01 -
12383.29 700.00 11.35 1253 12389.01 roll 1.57 - - 2709.75 - 3.59 0.067 2528.81 413.4 174.21 - - 2265.69 - - - - - - - - - 16.02 -
12700.40 663.46 11.29 1275 12701.74 no move 1.57 - - 2709.06 - - - 2529.19 - 174.21 - - 2262.56 - - - - - - - - - - -
13015.47 626.76 12.04 1296 13023.07 roll 1.57 - - 2709.88 - 3.97 0.128 1045.62 -373.7 174.21 - - 2262.91 - - - - - - - - - 16.04 -
13094.87 615.47 12.64 1309 13100.62 roll 1.57 - - 2709.88 - 3.61 0.066 2526.88 410.3 174.21 - - 2263.53 - - - - - - - - - 16.06 -
13411.98 579.90 11.13 1331 13413.32 VBD 1.57 - - 2709.44 - - - 2527.44 - 174.21 - - 2262.78 - - - - - - - - - - -
13727.03 545.65 10.39 1352 13728.36 VBD 1.57 - - 2709.31 - - - 2527.69 - 174.21 - - 2261.97 - - - - - - - - - - -
14042.07 511.72 10.53 1373 14043.41 VBD 1.57 - - 2709.12 - - - 2526.88 - 174.21 - - 2261.28 - - - - - - - - - - -
14352.10 479.39 10.21 1400 14362.10 VBD 1.57 - - 2709.50 - - - 2527.19 - 174.21 - - 2261.12 - - - - - - - - - - -
14672.16 446.87 9.57 1432 14682.15 VBD 1.57 - - 2709.81 - - - 2526.44 - 174.21 - - 2260.50 - - - - - - - - - - -
14982.59 415.99 9.94 1463 14997.27 done 1.57 - - 2709.12 - 3.95 0.125 1045.44 -374.9 174.21 - - 2259.44 - - - - - - - - - 16.09 -
15068.72 405.64 12.78 1475 15083.21 done 1.57 - - 2709.56 - 3.60 0.066 2528.62 412.0 174.21 - - 2259.47 - - - - - - - - - 16.10 -
15393.37 371.69 10.29 1508 15403.35 VBD 1.57 - - 2709.19 - - - 2528.62 - 174.21 - - 2260.12 - - - - - - - - - - -
15713.46 338.47 10.01 1540 15723.41 VBD 1.57 - - 2709.56 - - - 2529.19 - 174.21 - - 2259.75 - - - - - - - - - - -
16033.48 305.93 9.51 1572 16043.46 VBD 1.57 - - 2709.00 - - - 2529.56 - 174.21 - - 2259.56 - - - - - - - - - - -
16345.48 274.04 10.01 1628 16351.27 done 1.57 - - 2710.12 - 3.93 0.124 1045.12 -377.7 174.21 - - 2258.59 - - - - - - - - - 16.10 -
16460.51 261.18 10.89 1651 16466.24 done 1.57 - - 2709.81 - 3.60 0.065 2531.06 412.8 174.21 - - 2257.81 - - - - - - - - - 16.12 -
16770.60 230.29 9.74 1713 16774.61 VBD 1.57 - - 2709.94 - - - 2530.81 - 174.21 - - 2258.34 - - - - - - - - - - -
17075.65 201.76 8.70 1774 17079.66 VBD 1.57 - - 2709.50 - - - 2530.94 - 174.21 - - 2256.94 - - - - - - - - - - -
17380.71 175.03 9.11 1835 17384.71 VBD 1.57 - - 2709.31 - - - 2530.38 - 174.21 - - 2257.53 - - - - - - - - - - -
17685.76 148.74 8.12 1896 17689.76 VBD 1.57 - - 2709.81 - - - 2531.12 - 174.21 - - 2257.34 - - - - - - - - - - -
17990.88 126.21 6.69 1957 17994.88 VBD 1.61 - - 2708.81 - - - 2531.06 - 174.21 - - 2257.34 - - - - - - - - - - -
18295.88 108.69 4.75 2018 18352.35 1.75 0.22 0.079 2752.12 196.9 4.01 0.122 1045.62 -370.4 222.99 47.63 1.108 2069.09 -4.0 0.064 - - - - - - 16.12 15.88 13.04
18430.88 97.47 9.64 2045 18436.63 roll 1.75 - - 2751.44 - 3.63 0.062 2530.69 409.1 222.99 - - 2069.81 - - - - - - - - - 15.95 -
18620.91 80.47 9.49 2083 18626.53 roll 1.75 - - 2750.81 - 2.94 0.120 3638.81 376.9 222.99 - - 2069.31 - - - - - - - - - 15.97 -
18815.96 66.82 5.53 2122 18857.24 done 1.86 - - 2751.94 - 2.83 0.059 2467.81 -413.8 259.49 36.92 1.038 1921.03 -4.0 0.043 - - - - - - - 16.00 12.93
19041.02 57.96 4.10 2167 19108.04 2.04 0.40 0.068 2825.06 182.8 3.90 0.124 1045.06 -364.8 318.57 60.07 1.018 1680.00 -4.0 0.038 - - - - - - 15.92 15.66 12.87
19206.13 44.06 10.71 2200 19211.75 roll 2.04 - - 2825.81 - 3.63 0.061 2529.81 409.0 318.57 - - 1679.00 - - - - - - - - - 15.79 -
19396.03 28.47 8.68 2238 19401.64 roll 2.04 - - 2824.38 - 2.97 0.117 3638.06 373.1 318.57 - - 1678.66 - - - - - - - - - 15.85 -
19631.06 4.45 9.48 2285 19636.67 roll 2.04 - - 2825.25 - 2.86 0.059 2477.00 -406.0 318.57 - - 1678.12 - - - - - - - - - 15.92 -
19656 end climb: SURFACE_DEPTH_REACHED
19656 begin surface coast
19681 end surface coast: CONTROL_FINISHED_OK
19681 begin surface
SM 1.52 - - - - 170.1 73.48 1.025 1348.6 18.4 17.50 0.052 1342.1 76.7 - 0.62 0.074 1355.1 2181.0 -4.579 - - 12.83 15.92 15.92 -